Is there an Addon that positions 3D cursor at the origin of non selected object by clicking it in 3D View?
You don't need an addon to do that, you can achieve it with Blender's builtin key map editor.

If the default Shift + S > Cursor to Selected is not enough for you, then you can set up any desired key combination to call that operator for you in the key map editor. The operator you are looking for is view3d.snap_cursor_to_selected.

With this you can go to Blender user preferences with Ctrl + Alt + U > Input Tab > 3D view > 3D View global and add a new entry there with the Add new button at the bottom of the list

In the operator field to the left enter the view3d.snap_cursor_to_selected now assign any mouse action or key press as desired.

Depending on which mouse button you use for selecting I found out that using the same mouse button plus some modifier key can work very well.

For example I use Left Mouse button for selection, since in object mode the F is not bound to any action by default, I assigned Mouse Select > Press + F as modifier key to view3d.snap_cursor_to_selected so when I am selection objects all I have to do is press F key and click on an object and the cursor will snap to all selected.

Edit Check out the example image